가상 끌기 전략을 이용한 클로소이드 경로 생성 기반 자동 주차 제어
- Title
- 가상 끌기 전략을 이용한 클로소이드 경로 생성 기반 자동 주차 제어
- Other Titles
- Clothoid Path Planning Based Autonomous Parking Control Using Virtual Towing Strategy
- Author
- 정정주
- Keywords
- 자동 주차; 경로생성; 차량 제어; 클로소이드 경로; 가상 끌기; Autonomous parking; Path planning; Vehicle control; Clothoid path; Virtual towing
- Issue Date
- 2020-07
- Publisher
- 한국자동차공학회
- Citation
- 2020 한국자동차공학회 춘계학술대회, page. 528-531
- Abstract
- This paper proposes a clothoid path planning based autonomous parking control using a virtual towing strategy. Path planning is one of the core components in the autonomous parking system. However, the algorithms such as circle-circle and circle-line-circle have a limitation of the discontinuous curvature while previous clothoid path planning methods require a lot of computational time. To revolve these problems, we present a simple but effective clothoid path planning based decentralized control algorithm using the virtual towing. It is advantageous to converge to the origin of the parking coordinates as well as to make continuous path satisfying clothoid constraints. The presented algorithm results that the vehicle converges smoothly to the parking spot through the real-car test.
- URI
- https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09418028https://repository.hanyang.ac.kr/handle/20.500.11754/169520
- ISSN
- 2713-7163
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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